CN220533301U - Displacement mechanism and arc steel end plate welding device - Google Patents

Abstract

The utility model relates to the technical field of arc steel processing, in particular to a displacement mechanism and an arc steel end plate welding device, wherein the displacement mechanism comprises a bottom bracket, a disc, a rotary driving assembly, a clamping assembly and a positioning assembly, the disc is rotatably arranged on the bottom bracket, an open slot is formed in the disc, and the open slot is communicated with the circumferential surface of the disc; a rotary drive assembly mounted on the shoe and configured to drive the disc to rotate about its own axis; a clamping assembly mounted on the disc configured to centrally clamp the arcuate steel; the positioning assembly is mounted on the disc and includes a first condition proximate to the open slot for positioning the end of the arcuate steel and a second condition distal to the open slot. The deflection mechanism can position the arc steel, and the arc steel end plate is welded by matching with the welding mechanism, so that the welding efficiency is improved.

Description

Displacement mechanism and arc steel end plate welding device

Technical Field

The utility model relates to the technical field of arc steel processing, in particular to a deflection mechanism and an arc steel end plate welding device.

Background

The positioner equipment is special welding auxiliary equipment, can cooperate with a welding robot to carry out welding operation, and is mainly suitable for welding deflection of ship-shaped work-piece welding seams so as to obtain ideal processing positions and welding speeds.

It can be known that the welding operation of the welding robot can be completed through the control of a pre-programmed program, so that the welding robot has high accuracy on the distance between the arc steel and the arc steel, and once the welding end of the arc steel deviates from a preset welding station of the welding robot, the welding operation of the welding robot is difficult to perform. The currently used positioner lacks the structure of fixing a position the arc steel, is difficult to realize arc steel end plate welding operation with current welding robot cooperation, and welding efficiency is low.

Disclosure of Invention

The utility model aims to provide a displacement mechanism which can position the end part of arc steel, so that the distance between the end part of arc steel and the displacement mechanism is kept consistent, the welding mechanism is matched with the welding mechanism to weld the profile steel end plate conveniently, and the welding efficiency is improved.

To achieve the purpose, the utility model adopts the following technical scheme:

the positioning mechanism comprises a collet, a disc, a rotary driving assembly, a clamping assembly and a positioning assembly, wherein the disc is rotatably arranged on the collet, an open slot is formed in the disc, and the open slot is communicated with the circumferential surface of the disc; the rotary driving assembly is arranged on the bottom bracket and is configured to drive the disc to rotate around the axis of the disc; the clamping assembly is mounted on the disc and is configured to clamp arc steel in a centering manner; the positioning assembly is mounted on the disc and includes a first condition proximate to the open slot for positioning the end of the arcuate steel and a second condition distal to the open slot.

Preferably, the clamping assembly comprises a first clamping plate, a second clamping plate and a first driving piece, wherein the first clamping plate and the second clamping plate are respectively positioned at two sides of the open slot and are arranged in parallel with the open slot, and the first driving piece is configured to drive the first clamping plate and the second clamping plate to move close to or away from each other.

Preferably, the clamping assembly further comprises a driving gear, a driven gear, a first connecting rod and a second connecting rod, wherein the driving gear, the driven gear, the first connecting rod and the second connecting rod are all in rotary connection with the disc, the driving gear is in meshed connection with the driven gear, the driving gear and the first connecting rod are respectively in rotary connection with a first end and a second end of the first clamping plate, and the first clamping plate is in eccentric connection with the driving gear; the driven gear and the second connecting rod are respectively connected with the first end and the second end of the second clamping plate in a rotating mode, the second clamping plate is eccentrically connected with the driven gear, the first driving piece is hinged to the disc, and the output end of the first driving piece is connected with the first connecting rod in a rotating mode.

Preferably, the clamping assembly further comprises a guard plate, the guard plates are arranged on opposite sides of the first clamping plate and the second clamping plate, the first end of each guard plate is bent in a direction away from the other guard plate, and the second end of each guard plate is bent in a direction close to the other guard plate.

Preferably, the positioning assembly is arranged on one side, far away from the opening slot, of the disc, the positioning assembly comprises a power arm, a positioning roller, an abutting plate and a third driving piece, the first end of the power arm is hinged to the disc, the second end of the power arm is connected with the positioning roller, the positioning roller can rotate around the axis of the positioning roller, the abutting plate is arranged on one side, facing the opening slot, of the power arm and is perpendicular to the opening slot, the positioning roller and the third driving piece are respectively arranged on two sides of the abutting plate, and the output end of the third driving piece is connected with the power arm and is configured to drive the power arm to rotate around the first end of the power arm.

Preferably, the clamping assembly is located inside the disc, the displacement mechanism further comprises a guide assembly arranged on one side, facing away from the positioning assembly, of the disc, the guide assembly comprises two guide rollers parallel to the open slot, and the guide rollers can rotate around the axis of the guide rollers.

The utility model further aims to provide an arc-shaped steel end plate welding device which comprises two groups of walking bottom beams, two groups of walking trolleys, two groups of welding mechanisms and the two groups of shifting mechanisms, wherein the two groups of welding mechanisms and the two groups of shifting mechanisms are symmetrically arranged on the two groups of walking trolleys respectively.

Preferably, the robot further comprises two groups of transfer robots, wherein the transfer robots are fixedly connected with the two groups of traveling trolleys respectively so as to travel along with the traveling trolleys.

Preferably, the handling robot comprises a robot body and a grabbing component, wherein the grabbing component is used for grabbing the end plate, and the grabbing component is flexibly connected with the robot body.

Preferably, the walking trolley comprises a trolley body, a fourth driving piece and a walking chain wheel, a walking chain matched with the walking chain wheel is arranged on the walking bottom beam, the output end of the fourth driving piece is connected with the walking chain wheel, and the fourth driving piece is flexibly connected with the trolley body.

The utility model has the beneficial effects that: the displacement mechanism can clamp the profile steel to overturn the profile steel, the profile steel can be welded from different angles, the end part of the profile steel can be positioned through the arrangement of the positioning assembly, the distance between the end part of the profile steel and the displacement mechanism is kept consistent, when the positioning mechanism is matched with the welding mechanism to weld the profile steel end plate, the distance between the welding mechanism which moves together with the positioning mechanism and the end part of the profile steel is the same as the preset distance, the welding mechanism can weld the profile steel end plate according to the preset degree, the welding operation is completed, and the welding efficiency is improved.

Drawings

FIG. 1 is a top view of an arcuate steel end plate welding apparatus in accordance with an embodiment of the present utility model;

FIG. 2 is a side view of a indexing mechanism in an embodiment of the utility model;

FIG. 3 is a front view of a indexing mechanism in an embodiment of the utility model;

FIG. 4 is a rear view of a indexing mechanism in an embodiment of the utility model;

FIG. 5 is a schematic view of the internal structure of a displacement mechanism according to an embodiment of the present utility model;

FIG. 6 is a cross-sectional view taken along the direction E-E in FIG. 5;

FIG. 7 is a schematic view of one of the angles of the positioning assembly;

FIG. 8 is an M-direction view of FIG. 7;

FIG. 9 is an N-directional view of FIG. 8;

FIG. 10 is a schematic view of a traveling carriage with a welding mechanism, a carrying mechanism, and a displacement mechanism mounted thereon;

FIG. 11 is an enlarged schematic view of the structure at M in FIG. 10;

fig. 12 is an enlarged schematic view of the structure at N in fig. 10;

FIG. 13 is a top view of FIG. 10;

fig. 14 is a view showing the displacement angle of the displacement mechanism during the arc steel end plate welding operation.

In the figure:

10. the position changing mechanism, 11 and the bottom bracket; 111. a limiting plate; 12. a disc; 121. an open slot; 13. a clamping assembly; 131. a first clamping plate; 132. a second clamping plate; 133. a first driving member; 134. a drive gear; 135. a driven gear; 136. a first link; 137. a second link; 138. a guard board; 14. a rotary drive assembly; 141. a carrier roller; 142. a second driving member; 143. a rotary sprocket; 144. rotating the chain; 15. a positioning assembly; 151. a power arm; 1511. a mounting plate; 1512. a connecting plate; 152. an abutting plate; 153. a positioning roller; 154. a third driving member; 16. a guide assembly; 161. a guide roller; 162. a carrier roller slide block;

20. a welding mechanism; 21. a welding robot; 22. welding robot welding machine; 23. welding robot control cabinet; 24. a support plate;

30. a carrying mechanism; 31. a support frame; 32. a transfer robot; 321. a robot main body; 322. a grabbing component; 323. a first flexible connection unit; 3231. a mounting base; 3232. a flexible connection plate; 3233. a connecting rod; 3234. a nylon pad; 3235. a first buffer spring; 3236. a first nut; 33. a transfer robot control cabinet;

40. a walking trolley; 41. a trolley body; 42. a fourth driving member; 43. a composite roller assembly; 44. a traveling chain wheel; 45. a second flexible connection assembly; 451. a transition plate; 452. a second nut; 453. a screw; 454. a second buffer spring;

50. a walking bottom beam; 51. a ground rail; 52. fork truck channel steel; 53. and (5) walking the chain.

Detailed Description

The utility model is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present utility model are shown in the drawings.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", etc., azimuth or positional relationship are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of description and simplification of operations, and do not indicate or imply that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

When arc steel end plate welding operation, set up a machine that shifts respectively at arc steel both ends generally to guarantee that arc steel is whole can together rotate when needs, and in order to improve welding efficiency, arc steel's both ends still are provided with a set of welding mechanism respectively, and welding mechanism welds the end plate on arc steel both ends terminal surface according to the programming procedure of predetermineeing. The premise that the operation can be smoothly carried out is that the two ends of the arc-shaped steel can accurately correspond to the preset welding stations of the welding mechanism. That is, the distance between the end of the arc-shaped steel and the welding mechanism should be consistent with a preset distance.

Based on this, the utility model provides a welding device for arc steel end plates, which can position the end of arc steel relative to the welding mechanism 20, so that when arc steel end plates are welded in batches, the distance between the welding mechanism 20 and the end of arc steel is kept at a preset distance, and then the welding mechanism 20 can weld the end plates on the arc steel end surfaces according to a preset program without reprogramming.

Fig. 1 to 13 show an arc steel end plate welding device according to one embodiment of the present utility model, the arc steel end plate welding device includes a walking beam 50, a walking trolley 40, a displacement mechanism 10 and a welding mechanism 20, wherein the walking trolley 40, the displacement mechanism 10 and the welding mechanism 20 are all provided with two groups, each group of walking trolley 40 is provided with one group of displacement mechanism 10 and one group of welding mechanism 20, the displacement mechanisms 10 and the welding mechanism 20 on the two groups of walking trolleys 40 are symmetrically arranged, the two groups of walking trolleys 40 reciprocate on the walking beam 50 along the extending direction of the walking beam 50, the displacement mechanism 10 and the welding mechanism 20 are driven to move together, the positioning assembly 15 is arranged on the displacement mechanism 10, when the positioning assembly 15 contacts with arc steel, the walking trolleys 40 stop moving, the distance between the welding mechanism 20 and the end of the arc steel is the same as the preset distance, the welding mechanism 20 welds the end plate on the end surface of the arc steel according to the preset degree, and the welding efficiency is high.

Referring to fig. 2-9, the displacement mechanism 10 includes a shoe 11, a disc 12, a clamping assembly 13, a rotation driving assembly 14 and a positioning assembly 15, wherein the disc 12 is rotatably disposed on the shoe 11, an opening groove 121 through which arc steel passes is disposed on the disc 12, the opening groove 121 is communicated with a circumferential surface of the disc 12, the rotation driving assembly 14 is mounted on the shoe 11 and configured to drive the disc 12 to rotate on the shoe 11 around its own axis, the clamping assembly 13 is mounted on the disc 12 for clamping the arc steel, and the positioning assembly 15 is mounted on the disc 12 for positioning an end portion of the arc steel. It should be emphasized that, in order to avoid interference of the positioning assembly 15 during the processing or loading of the end portions of the arc-shaped steel, the positioning assembly 15 is movably connected to the disc 12, and includes a first state for positioning the arc-shaped steel close to the open slot 121 and a second state away from the open slot 121.

Illustratively, the entire disc 12 is hollow, the clamping assembly 13 is located inside the disc 12 and includes a first clamping plate 131 and a second clamping plate 132, the first clamping plate 131 and the second clamping plate 132 are located on two sides of the open slot 121 and are parallel to the open slot 121, and the first clamping plate 131 and the second clamping plate 132 can move close to or far from each other to clamp or loosen the arc steel.

To achieve centering clamping of the arc steel, the first clamping plate 131 and the second clamping plate 132 need to move simultaneously. In this embodiment, the first clamping plate 131 is in transmission connection with the second clamping plate 132, one of the first clamping plate 131 and the second clamping plate 132 is connected with a first driving member 133, and under the action of the first driving member 133, the first clamping plate 131 or the second clamping plate 132 connected with the first driving member 133 can move close to or away from the open slot 121, and transmit moving power to the second clamping plate 132 or the first clamping plate 131, so that the first clamping plate 131 and the second clamping plate 132 move synchronously in opposite directions or in opposite directions.

Taking the connection of the first driving member 133 with the first clamping plate 131 as an example, the first driving member 133 may be an air cylinder or an oil cylinder. The clamping assembly 13 further comprises a driving gear 134, a driven gear 135, a first connecting rod 136 and a second connecting rod 137, wherein the driving gear 134 and the driven gear 135 are rotationally connected with the disc 12 through gear shafts, the first connecting rod 136 and the second connecting rod 137 are rotationally connected with the disc 12 through connecting rod shafts, the driving gear 134 is in meshed connection with the driven gear 135, the driving gear 134 and the first connecting rod 136 are respectively rotationally connected with a first end and a second end of the first clamping plate 131, and the first clamping plate 131 is eccentrically connected with the driving gear 134; the driven gear 135 and the second link 137 are rotatably connected to a first end and a second end of the second clamping plate 132, respectively, and the second clamping plate 132 is eccentrically connected to the driven gear 135, and the first driving member 133 is rotatably disposed on the disc 12, and an output end thereof is rotatably connected to the first link 136. The whole clamping assembly 13 can be regarded as a four-bar structure with two sets of transmission connection, the distance between the transfer point of the first clamping plate 131 and the driving gear 134 and the gear shaft of the driving gear 134 is equal to the distance between the transfer point of the first clamping plate 131 and the first connecting rod 136 and the link shaft of the first connecting rod 136, the distance between the transfer point of the second clamping plate 132 and the driven gear 135 and the gear shaft of the driven gear 135 is equal to the distance between the transfer point of the second clamping plate 132 and the second connecting rod 137 and the link shaft of the first connecting rod 136, and then the first clamping plate 131 and the second clamping plate 132 are always parallel in the moving process. In this embodiment, in order to save installation space and reduce the size of the disk 12, the driving gear 134 and the driven gear 135 each employ sector gears.

More specifically, in order to avoid damage to the surface of the arc steel caused by the first clamping plate 131 and the second clamping plate 132, the opposite surfaces of the first clamping plate 131 and the second clamping plate 132 are respectively provided with a guard plate 138, the first end of the guard plate 138 penetrates out of the disc 12 and bends towards the direction away from the other guard plate 138, so that arc steel is convenient to enter the open slot 121, the second end of the guard plate 138 bends towards the direction close to the other guard plate 138, the arc steel can be limited, and the arc steel is prevented from contacting with the driving gear 134 and the driven gear 135 inside the disc 12, and meshing transmission between the driving gear 134 and the driven gear 135 is affected.

In order to adapt to the rotation of the disc 12 around the axis thereof, the top of the bottom support 11 is provided with an arc-shaped accommodating groove which is matched with the shape of the disc 12, the disc 12 is arranged in the accommodating groove, and the corresponding central angle of the accommodating groove is smaller than 180 degrees, so that the disc 12 can at least rotate positively and negatively on the bottom support 11 by 180 degrees. And the two sides of the circumference of the collet 11 are also provided with limiting plates 111, and in the rotating process of the disc 12, the guard plate 138 is abutted with the limiting plates 111 to limit the disc 12 to continuously rotate along the same direction, so that the excessive rotation of the disc 12 is avoided. The rotary driving assembly 14 is disposed in the accommodating groove, and includes a carrier roller 141 and a second driving member 142, where the carrier roller 141 is spaced along the circumferential direction of the accommodating groove and is rotationally connected with the base 11, for supporting the disc 12, and an output end of the second driving member 142 is connected with the disc 12 to drive the disc 12 to rotate. The second driving member 142 is an electric rotating machine, the output end of the electric rotating machine is connected with a speed reducer, a rotating sprocket 143 is disposed on the output shaft of the speed reducer, spacers and caps are disposed at two ends of the shaft of the traveling sprocket 44 of the rotating sprocket 143 to prevent the rotating sprocket 143 from axially moving, a rotating chain 144 is disposed on the rotating sprocket 143 in a winding manner, the rotating chain 144 is disposed along the outer periphery of the disc 12 in a winding manner, and two ends of the rotating chain 144 are fixed on the circumferential surface of the disc 12. It will be appreciated that the rotary chain 144 is disposed on a circumferential surface of the disc 12 protruding from the shoe 11 to avoid the idler 141 interfering with the movement of the rotary chain 144.

Referring to fig. 3, the positioning assembly 15 is disposed on a side of the disc 12 far away from the opening of the opening slot 121, and includes a power arm 151, a positioning roller 153, an abutting plate 152 and a third driving member 154, wherein the abutting plate 152 is disposed on a side of the power arm 151 facing the opening slot 121 and perpendicular to the opening slot 121, the positioning roller 153 and the third driving member 154 are respectively disposed on two sides of the abutting plate 152, the positioning roller 153 can rotate around its own axis, a first end of the power arm 151 is hinged with the disc 12, a second end is connected with the positioning roller 153, an output end of the third driving member 154 is connected with the power arm 151, and is configured to drive the power arm 151 to rotate around the first end of the power arm 151 so as to drive the positioning roller 153 and the abutting plate 152 to move. The third driving member 154 may be a cylinder or an oil cylinder.

Specifically, referring to fig. 7-9, the power arm 151 includes a mounting plate 1511 and a connecting plate 1512, the number of the mounting plate 1511 and the connecting plate 1512 is two, wherein the two mounting plates 1511 are parallel to the abutting plate 152, the two mounting plates 1511 are rotatably disposed on the disc 12 through a through shaft, a bearing fixedly connected with the mounting plate 1511 is sleeved on the through shaft, a pressing piece abutted to the through shaft is disposed on the mounting plate 1511 so as to fix the through shaft axially and circumferentially, the connecting plate 1512 is in an L shape, and the two connecting plates 1512 are respectively disposed on two opposite sides of the mounting plate 1511 perpendicular to the abutting plate 152 and are abutted to one side, away from the disc 12, of the abutting plate 152. The positioning roller 153 is rotationally connected with the two connecting plates 1512 through a positioning roller shaft, a bearing and a bearing spacer are sleeved on the positioning roller shaft, and meanwhile, a pressing sheet which is abutted with the positioning roller shaft is also fixed on the connecting plates 1512 so as to fix the positioning roller shaft axially and circumferentially. The output end of the third driving member 154 is provided with a fisheye joint, and a fisheye joint shaft with both ends respectively fixed on the two mounting plates 1511 is inserted into the fisheye joint.

The displacement mechanism 10 further comprises a guide assembly 16 arranged on the side of the disc 12 facing away from the positioning assembly 15, and is used for guiding the arc steel to walk when the arc steel is placed in the open groove 121, and the arc steel penetrates from the side of the disc 12 where the guide assembly 16 is arranged and then penetrates from the side where the positioning assembly 15 is arranged. The guide assembly 16 includes two guide rollers 161 parallel to the open groove 121, and the guide rollers 161 are rotatable about their own axes. As for the distance between the guide roller 161 and the open groove 121, it is possible to adjust according to the degree of bending of the arc-shaped steel, and there is no particular limitation in the present embodiment.

Referring to fig. 4, the guide assembly 16 further includes two sets of idler slider groups, each set of idler slider groups includes two idler sliders 162, the two idler sliders 162 in the same set are disposed at intervals along the direction of the open slot 121, and two ends of the guide roller 161 are respectively inserted into the two idler sliders 162 to realize rotational connection with the disc 12. Specifically, a bearing is further provided between the guide roller 161 and the carrier roller slider 162.

Referring to fig. 13, the welding mechanism 20 includes a welding robot 21, a welding robot welder, and a welding robot control cabinet fixed to one side of the welding robot welder, in which a control system for controlling the welding robot 21 is provided, the welding robot welder is fixed to a traveling carriage 40 through a support plate 24, and the displacement mechanism 10 and the support plate 24 are located at opposite sides of the welding robot 21, respectively.

In order to feed in time, the arc-shaped steel welding device in the embodiment further comprises a carrying mechanism 30, and the carrying mechanism 30 is connected with the travelling trolley 40 through a supporting frame 31 and moves along with the travelling trolley 40. Referring to fig. 13, the transfer mechanism 30 includes a transfer robot 32 and a transfer robot control cabinet, and a control system for controlling the transfer robot 32 is provided in the transfer robot control cabinet.

Referring to fig. 10 and 13, the transfer robot 32 includes a robot body 321 and a gripper assembly 322 disposed on a head of the robot body 321, and the gripper assembly 322 is capable of gripping an end plate and transferring the end plate to an end plate positioning plate under the driving of the robot body 321. In this embodiment, the gripping module 322 includes an electromagnet, and in other embodiments, the gripping module 322 may also be a vacuum chuck connected to a vacuum generating device.

In order to reduce the damage of the grabbing component 322 caused by collision with the end plate in the grabbing process of the end plate, or the grabbing component 322 is flexibly connected with the robot main body 321 through the first flexible connecting component 323, and under the action of the first flexible connecting component 323, the grabbing component 322 can axially stretch and retract relative to the robot main body 321.

Referring to fig. 12, the first flexible connection assembly 323 includes a mounting seat 3231, a flexible connection plate 3232, a connection rod 3233, a nylon pad 3234, a first buffer spring 3235 and a first nut 3236, where the mounting seat 3231 is set to be U-shaped, the gripping assembly 322 is mounted on the mounting seat 3231, the flexible connection plate 3232 is disc-shaped, and is fixed at the head of the robot main body 321, the plurality of connection rods 3233 are threaded on the flexible connection plate 3232 around, specifically, one end of each connection rod 3233 passes through the mounting seat 3231 and is screwed with the gripping assembly 322, the other end passes through the flexible connection plate 3232 along the axial direction of the flexible connection plate 3232, both ends of the connection rod 3233 located at the flexible connection plate 3232 are sleeved with the nylon pad 3234, the first buffer spring 3235 and the first nut 3236, where the two nylon pads 3234 are fixed at both sides of the flexible connection plate 3232, one end of the first buffer spring 3235 is fixedly connected with the nylon pad 3234, and the other end is fixedly connected with the first nut 3236, and under the action of the first buffer spring 3235, the connection rod 33 can axially expand and contract relative to the flexible connection plate 3232. In other embodiments, the first flexible connection assembly 323 may also employ a flexible filler or the like.

Referring to fig. 1 and 13, the walking sill 50 includes a ground rail 51, and a forklift channel 52 and a walking chain 53 disposed on the ground rail 51, the forklift channel 52 is disposed on two sides of the walking chain 53 and parallel to the walking chain 53, the walking trolley 40 includes a trolley body 41, a fourth driving member 42, a composite roller assembly 43 and a walking sprocket 44, wherein the fourth driving member 42 is disposed on the trolley body 41, an output end of the fourth driving member is connected with the walking sprocket 44, the walking sprocket 44 is engaged with the walking chain 53, the trolley body 41 travels along the direction of the walking chain 53 under the action of the fourth driving member 42, the composite roller assembly 43 is disposed on two opposite sides of the trolley body 41 and is in sliding fit with the forklift channel 52, and guiding and limiting of the trolley body 41 are performed. In this embodiment, the fourth driving member 42 is a traveling motor used in cooperation with a speed reducer, the speed reducer is a hollow speed reducer, and the traveling sprocket 44 is fixed on a hollow connecting shaft of the speed reducer.

Considering that the traveling carriage 40 may vibrate during traveling (e.g., due to uneven ground), the traveling motor is flexibly connected to the traveling carriage 40 through the second flexible connection unit 45. Referring to fig. 10-11, the second flexible connection assembly 45 includes a transition plate 451, a second nut 452, a screw 453, and a second buffer spring 454, where the transition plate 451 is fixedly connected with the traveling motor, one end of the transition plate is hinged to the traveling carriage 40, the other end of the transition plate is provided with a through hole through which the screw 453 vertically fixed on the traveling carriage 40 passes, the two ends of the screw 453 located in the through hole are respectively sleeved with the second buffer spring 454 and the second nut 452, and the second buffer spring 454 is abutted to the carriage body 41.

The operation of the arc-shaped steel welding apparatus in the present embodiment will be described in detail with reference to fig. 14. Taking an arc steel end plate as an example, the fourth driving piece 42 is driven according to the length of the arc steel, so that the travelling trolley 40 drives a load (the displacement mechanism 10, the welding mechanism 20, the carrying mechanism 30 and the like) arranged on the travelling trolley to perform centering travelling, the disc 12 of the displacement mechanism 10 rotates until an opening of the opening groove 121 is upward, at the moment, the guide roller 161 keeps a vertical state, the arc steel can perform circular motion around the circle center under the action of an external conveying structure, the arc steel passes through one side of the positioning component 15 of one displacement mechanism 10 and is conveyed to one side of the positioning component 15 of the other displacement mechanism 10, the positioning component 15 of the displacement mechanism 10 through which the profile steel passes for the first time is in a second state, the positioning component 15 of the displacement mechanism 10 through which the profile steel passes for the second time is in a first state, after the arc steel is abutted with an abutting plate 152 in a positioning assembly 15 of a displacement mechanism 10 penetrating the arc steel for the second time, the positioning assembly 15 of the positioning mechanism penetrating the section steel firstly is converted into a first state, two groups of traveling trolleys 40 continue to travel in opposite directions, when two ends of the arc steel are in contact with positioning rollers 153, torque of a fourth driving piece 42 is increased, when the torque is increased to a preset upper limit, the fourth driving piece 42 stops, a first driving piece 133 drives a first connecting rod 136 connected with a first clamping plate 131 to rotate, the first connecting rod 136 moves towards an open slot 121, and simultaneously, the second connecting rod 137 is driven to move towards the open slot 121 through meshing transmission between a driving gear 134 and a driven gear 135 to clamp the arc steel; after the arc steel is clamped, the second driving piece 142 drives the power arm 151 to move, the position changing mechanism 10 is converted into a second state from the first state, meanwhile, the disc 12 rotates 90 degrees to enable the open slot 121 to be horizontal, the carrying robot 32 carries the end plate to carry out electromagnetic absorption and place the end plate on the arc steel end face, the end plate is welded in cooperation with the welding robot 21, after one face of the end plate is welded, the disc 12 reversely rotates 180 degrees, the other face of the end plate is welded, and high-efficiency welding operation is achieved.

It should be noted that friction is generated between the arc-shaped steel and the abutting plate 152 in the positioning process, in order to improve the service life of the abutting plate 152, an abrasion-resistant layer is disposed on the abutting plate 152 or the abutting plate 152 is directly made of abrasion-resistant material, and meanwhile, the abutting plate 152 is connected with the power arm 151 in a threaded connection manner for periodic replacement.

It is to be understood that the above examples of the present utility model are provided for clarity of illustration only and are not limiting of the embodiments of the present utility model. Various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the utility model. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims (10)

1. The mechanism that shifts, its characterized in that includes:

a shoe (11);

a disc (12) rotatably arranged on the collet (11), an open groove (121) is formed in the disc (12), and the open groove (121) is communicated with the circumferential surface of the disc (12);

a rotation driving assembly (14) mounted on the shoe (11) and configured to drive the disc (12) to rotate about its own axis;

a clamping assembly (13) mounted on the disc (12) and configured to clamp the arc steel centrally;

a positioning assembly (15) mounted on the disc (12) and comprising a first condition adjacent the open slot (121) to position the end of the arcuate steel and a second condition remote from the open slot (121).

2. The indexing mechanism according to claim 1, wherein the clamping assembly (13) comprises a first clamping plate (131), a second clamping plate (132) and a first driving member (133), the first clamping plate (131) and the second clamping plate (132) being located on both sides of the open slot (121) and being arranged parallel to the open slot (121), respectively, the first driving member (133) being configured to drive the first clamping plate (131) and the second clamping plate (132) to move towards or away from each other.

3. The indexing mechanism according to claim 2, wherein the clamping assembly (13) further comprises a driving gear (134), a driven gear (135), a first link (136) and a second link (137), wherein the driving gear (134), the driven gear (135), the first link (136) and the second link (137) are all rotatably connected with the disc (12), wherein the driving gear (134) is in meshed connection with the driven gear (135), wherein the driving gear (134) and the first link (136) are respectively rotatably connected with a first end and a second end of the first clamping plate (131), and wherein the first clamping plate (131) is eccentrically connected with the driving gear (134); the driven gear (135) and the second connecting rod (137) are respectively and rotatably connected with the first end and the second end of the second clamping plate (132), the second clamping plate (132) is eccentrically connected with the driven gear (135), the first driving piece (133) is rotatably arranged on the disc (12), and the output end of the first driving piece is rotatably connected with the first connecting rod (136).

4. The displacement mechanism according to claim 2, wherein the clamping assembly (13) further comprises a guard plate (138), the guard plates (138) are arranged on opposite sides of the first clamping plate (131) and the second clamping plate (132), a first end of each guard plate (138) is bent away from the other guard plate (138), and a second end of each guard plate (138) is bent towards a direction approaching the other guard plate (138).

5. The displacement mechanism according to claim 1, wherein the positioning assembly (15) is disposed on a side of the disc (12) away from the opening of the opening groove (121), the positioning assembly (15) comprises a power arm (151), a positioning roller (153), an abutting plate (152) and a third driving member (154), a first end of the power arm (151) is hinged to the disc (12), a second end of the power arm (151) is connected to the positioning roller (153), the positioning roller (153) can rotate around its own axis, the abutting plate (152) is disposed on a side of the power arm (151) facing the opening groove (121) and perpendicular to the opening groove (121), the positioning roller (153) and the third driving member (154) are disposed on two sides of the abutting plate (152), respectively, and an output end of the third driving member (154) is connected to the power arm (151) and configured to drive the power arm (151) to rotate around the first end of the power arm (151).

6. The indexing mechanism according to claim 1, wherein the clamping assembly (13) is located inside the disc (12), the indexing mechanism (10) further comprising a guide assembly (16) arranged on a side of the disc (12) facing away from the positioning assembly (15), the guide assembly (16) comprising two guide rollers (161) parallel to the open slot (121), the guide rollers (161) being rotatable about their own axes.

7. Arc steel end plate welding set, its characterized in that includes walking floorbar (50), walking dolly (40), welding mechanism (20) and as any one of claims 1-6 the mechanism that shifts, walking dolly (40) are provided with two sets of, can move on walking floorbar (50), welding mechanism (20) with mechanism (10) that shifts all are provided with two sets of and respectively two-two symmetrical sets up on two sets of walking dolly (40).

8. The arc steel end plate welding apparatus according to claim 7, further comprising a transfer robot (32), wherein the transfer robot (32) is provided with two groups, and is fixedly connected with the two groups of traveling carts (40) respectively to travel with the traveling carts (40).

9. The arc steel end plate welding apparatus according to claim 8, wherein the handling robot (32) comprises a robot body (321) and a gripping assembly (322), the gripping assembly (322) being for gripping an end plate, the gripping assembly (322) being flexibly connected to the robot body (321).

10. The arc steel end plate welding device according to claim 7, wherein the traveling trolley (40) comprises a trolley main body (41), a fourth driving piece (42) and a traveling chain wheel (44), a traveling chain (53) matched with the traveling chain wheel (44) is arranged on the traveling bottom beam (50), an output end of the fourth driving piece (42) is connected with the traveling chain wheel (44), and the fourth driving piece (42) is flexibly connected with the trolley main body (41).